Artificial formation forces for stable aggregation of multi-agent system
Ekanayake, Samitha and Pathirana, Pubudu 2006, Artificial formation forces for stable aggregation of multi-agent system, in Sustainable development through effective man-machine co-existence : Proceedings of the International Conference on Information and Automation (ICIA`06), IEEE, Piscataway, N.J., pp. 129-134, doi: 10.1109/ICINFA.2006.374095.
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Artificial formation forces for stable aggregation of multi-agent system
Sustainable development through effective man-machine co-existence : Proceedings of the International Conference on Information and Automation (ICIA`06)
This paper introduces, a robust and stable algorithm based on artificial formation forces, for multi-agent system (MAS) aggregation in 2D space. The MAS model with artificial forces; consists of inter-member collision avoidance element, formation generation element and a velocity based damping element; is analysed for stability and convergence. Computer simulations are used to illustrate stability and convergence, and to demonstrate effectiveness of the algorithm.
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